CN219728312U - Double-flow transmission mechanism - Google Patents

Abstract

The utility model discloses a double-flow transmission mechanism which comprises a straight component, a steering component and a differential component which are matched and combined, wherein the differential component comprises two groups which are symmetrically arranged, the differential component comprises a shell component and a gear component, and output gears are respectively assembled on the two groups of gear components. In the straight-line assembly, two ends of a straight-line input shaft are respectively linked with the two groups of gear assemblies, and a straight-line input gear is arranged on the straight-line motor and is linked with the straight-line input shaft. In the steering assembly, the two groups of transmission gear sets comprise a connecting shaft, a first transmission gear and a second transmission gear which are fixed on the connecting shaft, a steering input gear is arranged on a steering motor and meshed with the two groups of first transmission gears, and the second transmission gear is in linkage with the shell assembly. The utility model can realize independent operation of the tracks on two sides, realize zero-radius in-situ turning and fixed-radius turning, simultaneously ensure simple and compact overall structure, ensure reliable transmission and improve transmission efficiency.

Description

Double-flow transmission mechanism

Technical Field

The utility model relates to the technical field of transmission mechanisms matched with crawler-type travelling equipment, in particular to a double-flow transmission mechanism.

Background

Crawler-type advancing equipment is widely applied to field operation environments such as engineering machinery and tractors, and is widely applied to the field of robots due to the development of advancing robots at present. The crawler-type advancing device can be strictly required for structural strength, rigidity and steering, and mainly comprises a driving wheel, a guide wheel, a bearing wheel and a crawler belt assembled on the outer side, wherein the driving wheel is used as a power source of a power wheel receiving power device (a motor, an engine and the like), and basic advancing requirements are completed through combination of the wheels and the crawler belt.

The principle that traditional crawler-type advancing equipment involved in advancing mainly includes, and the forward of going forward, the back function is the constant speed equidirectional rotation of control both sides drive wheel so that both sides track synchronous operation, and the speed of operation through controlling both sides drive wheel differential rotation when traveling in the turn to make both sides track's functioning speed form the speed difference, reaches the effect of turning to the slower one side track direction department of speed, and the effect of turning around is realized through controlling both sides drive wheel constant speed counter rotation when turning around in place to make both sides track reverse operation. On the basis, the speed difference of the rotating speeds on the wheels during steering, turning around and passing through the pits can be dealt with through the assembled differential mechanism, and meanwhile, the stability of slipping, idling and the like of the wheels can be avoided.

The crawler-type travelling equipment is characterized in that a steering mechanism is connected in series with a speed change mechanism, namely, the power output by an engine or a motor flows into the steering mechanism after passing through the speed change mechanism, and the full-speed operation of the equipment cannot be ensured in the steering process. And the single-flow transmission system has higher difficulty in realizing fixed-radius turning (namely, one-side crawler is stationary and one-time crawler running).

Therefore, it is necessary to design a double-flow transmission mechanism applied to crawler-type travelling equipment so as to realize independent operation of crawler belts at two sides, realize zero-radius in-situ turning and fixed-radius turning, and simultaneously ensure that the whole structure is simple and compact, and the transmission efficiency is improved while the transmission is reliable.

Disclosure of Invention

Aiming at the defects in the prior art, the utility model aims to provide a double-flow transmission mechanism, which realizes independent operation of caterpillar tracks on two sides, realizes zero-radius in-situ turning and fixed-radius turning, ensures simple and compact overall structure, ensures reliable transmission and improves transmission efficiency.

The technical scheme adopted by the utility model for achieving the purpose is as follows: the double-flow transmission mechanism comprises an outer cover, and a straight component, a steering component and a differential component which are assembled in the outer cover and are matched and combined.

The differential assembly comprises two groups which are symmetrically arranged, the differential assembly comprises a shell assembly and a gear assembly, and output gears are respectively assembled on the two groups of gear assemblies.

The straight-going assembly comprises a straight-going input shaft, a straight-going motor and a straight-going input gear, wherein the straight-going input shaft is rotatably installed in the outer cover, two ends of the straight-going input shaft are respectively linked with gear sets in the two groups of differential assemblies, and the straight-going input gear is fixedly installed on a rotating shaft of the straight-going motor and linked with the straight-going input shaft.

The steering assembly comprises a steering motor, steering input gears and a transmission gear set, wherein the transmission gear set comprises two groups which are symmetrically arranged in the outer cover, each group of transmission gear set comprises a connecting shaft, a first transmission gear and a second transmission gear which are fixed on the connecting shaft, the connecting shaft is rotatably installed in the outer cover, the steering input gears are fixedly installed on a rotating shaft of the steering motor and meshed with the two groups of first transmission gears, and the two groups of second transmission gears are respectively linked with the outer cover assemblies of the two groups of differential assemblies.

In some implementations, in order to ensure that the straight traveling assembly, the steering assembly and the differential assembly can be stably installed in the outer cover, ensure the cooperation operation among the assemblies, ensure that the double-flow transmission mechanism is stably installed in crawler-type traveling equipment, and simultaneously facilitate the disassembly, assembly and maintenance of the straight traveling assembly, the steering assembly and the differential assembly assembled in the outer cover, the following technical scheme is provided.

The outer cover comprises an upper cover shell, a lower cover shell and a mounting bracket, wherein the upper cover shell is fixedly mounted on the lower cover shell through bolts, the upper cover shell and the lower cover shell are combined to form a mounting cavity, the straight component, the steering component and the differential component are all mounted in the mounting cavity in a matched manner, and the lower cover shell is fixedly mounted on the mounting bracket.

In some of the implementations, in order to ensure that the linear motor can be stably mounted on the outer cover, and ensure that the power of the linear motor can be stably transmitted to the linear input shaft, the following technical scheme is provided.

The straight motor is fixedly mounted on the upper housing, the straight input shaft is fixedly provided with a first-stage A-type reduction gear, and the straight input gear is arranged on the inner side of the outer housing and keeps meshed with the first-stage A-type reduction gear.

In some of these implementations, in order to ensure that the steering motor can be stably mounted on the outer cover, and at the same time ensure that the power of the steering motor is stably transmitted to the housing assemblies of the two differential assemblies, the following technical scheme is provided.

The steering motor is fixedly arranged on the lower housing, a first-stage B-type reduction gear is fixedly connected to the housing assembly of the differential assembly, and second transmission gears in the two groups of transmission gear sets are respectively meshed with the first-stage B-type reduction gears on the two groups of housing assemblies.

In some implementations, in order to ensure that the differential assembly is stably installed in the outer cover, and simultaneously ensure that the differential assembly can operate to realize differential operation of the crawler belts on two sides according to road conditions and turning requirements, the following technical scheme is provided.

The shell component comprises a connecting disc and a mounting disc which are rotatably mounted in the outer cover, a plurality of groups of locking bars are uniformly fixedly connected to the connecting disc, the locking bars are fixedly locked with the mounting disc, and the primary B-type reduction gear is fixedly mounted on the connecting disc.

The gear assembly comprises a first-stage sun gear, a first-stage planet gear, a second-stage sun gear and a second-stage planet gear, wherein the first-stage sun gear is fixedly arranged on the straight-line input shaft, the second-stage sun gear is rotatably arranged at the axis of the mounting plate and fixedly connected with the output gear, the first-stage planet gear and the second-stage planet gear comprise a plurality of groups which are uniformly arranged, the first-stage planet gear and the second-stage planet gear are rotatably arranged on the connecting plate and the mounting plate and are arranged on the periphery of the first-stage sun gear and the second-stage sun gear, the first-stage sun gear is meshed with the first-stage planet gear, the second-stage sun gear is meshed with the second-stage planet gear, and the adjacently arranged first-stage planet gears and the second-stage planet gears are meshed.

In some implementations, the following technical scheme is provided for ensuring the stability of the primary sun gear, the primary planet gear, the secondary sun gear and the secondary planet gear in the assembly and operation processes.

The differential assembly is also matched with a protection assembly, the protection assembly comprises a rotation seat and protection discs, the rotation seat is rotatably arranged in the outer cover and is arranged between the primary sun wheel and the secondary sun wheel, two groups of protection discs are fixedly connected on the rotation seat, mounting notches are uniformly formed in the two groups of protection discs, and the primary planet wheels and the secondary planet wheels are mounted and arranged at the corresponding mounting notches.

In some implementations, the following technical solution is provided to ensure that the power output by the output gear can be stably transmitted to the matched driving wheels on the tracks at two sides, and simultaneously ensure that the driving wheels have enough torque to operate.

And the mounting bracket is rotatably provided with two groups of secondary reduction gears which are respectively meshed with the two groups of output gears.

The utility model has the beneficial effects that: when the straight component independently operates, synchronous operation of the crawler belts at two sides can be realized, so that the whole equipment is driven to move forwards or backwards; when the steering assembly is independently operated, constant-speed reverse operation of the crawler belts at two sides can be realized, so that the in-situ zero-radius turning of the equipment is realized; through the cooperation operation of the straight component and the steering component and the action of the differential component, the static fixed-radius steering of the single-side crawler belt and the large-radius steering of the same-direction differential operation of the crawler belts at the two sides can be realized, and in the steering process, the straight component can drive equipment to run at full speed. Meanwhile, the two groups of differential assemblies are matched, so that differential operation of the crawler belts at two sides in the steering process can be realized, and the problem of slipping during pit passing is avoided. In combination, the utility model can realize independent operation of the tracks on two sides, realize zero-radius in-situ turning and fixed-radius turning, simultaneously ensure simple and compact overall structure, ensure reliable transmission and improve transmission efficiency.

Drawings

FIG. 1 is a schematic view of the appearance structure of the present utility model;

FIG. 2 is a schematic view of the detachable structure of the outer cover;

FIG. 3 is a schematic view of the structure of the present utility model with the outer cover removed;

FIG. 4 is a schematic view of the steering assembly and differential assembly in combination;

FIG. 5 is a schematic view of the differential assembly, the straight traveling assembly, and the steering assembly after disassembly;

FIG. 6 is a schematic cross-sectional view of the present utility model;

fig. 7 is a schematic view of the mating assembly of the gear assemblies in the differential assembly.

In the figure: the device comprises a 1 outer cover, a 11 upper cover, a 12 lower cover, a 13 mounting bracket, a 14 connecting bracket, a 21 straight-going input shaft, a 22 straight-going motor, a 23 straight-going input gear, a 24-stage A-type reduction gear, a 3-steering assembly, a 31-steering motor, a 32-steering input gear, a 33-transmission gear set, a 331 connecting shaft, a 332 first-transmission gear, a 333 second-transmission gear, a 34-stage B-type reduction gear, a 411 connecting disc, a 412 mounting disc, a 413 locking rod, a 421-stage sun gear, a 422-stage planetary gear, a 423-stage sun gear, a 424-stage planetary gear, a 43-output gear, a 441 rotating seat, a 442 protection disc, a 5-driving wheel and a 51-stage reduction gear.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-7, the dual-flow transmission mechanism comprises an outer housing 1, and a straight-line assembly, a steering assembly 3 and a differential assembly which are assembled in the outer housing 1 and are matched and combined, wherein the differential assembly comprises two groups which are symmetrically arranged, and the differential assembly comprises a shell assembly and a gear assembly, and output gears 43 are assembled on the two groups of gear assemblies.

The straight line assembly comprises a straight line input shaft 21, a straight line motor 22 and a straight line input gear 23, wherein the straight line input shaft 21 is rotatably arranged in the outer cover 1, two ends of the straight line input shaft 21 are respectively linked with gear sets in the two groups of differential assemblies, and the straight line input gear 23 is fixedly arranged on a rotating shaft of the straight line motor 22 and linked with the straight line input shaft 21.

The steering assembly 3 comprises a steering motor 31, a steering input gear 32 and a transmission gear set 33, wherein the transmission gear set 33 comprises two groups which are symmetrically arranged in the outer cover 1, each group of transmission gear sets 33 comprises a connecting shaft 331, a first transmission gear 332 and a second transmission gear which are fixed on the connecting shaft 331, the connecting shaft 331 is rotatably arranged in the outer cover 1, the steering input gear 32 is fixedly arranged on a rotating shaft of the steering motor 31 and meshed with the two groups of first transmission gears 332, and the two groups of second transmission gears are respectively linked with the outer cover components of the two groups of differential assemblies.

The double-flow transmission mechanism provided by the utility model is mainly applied to crawler-type travelling equipment, and is preferably applied to a crawler-type robot.

When the straight component independently operates, synchronous operation of the crawler belts at two sides can be realized, so that the whole equipment is driven to move forwards or backwards; when the steering assembly 3 is independently operated, constant-speed reverse operation of the crawler belts at two sides can be realized, so that the in-situ zero-radius turning of the equipment is realized; through the cooperation operation of the straight component and the steering component 3 and the action of the differential component, the static fixed-radius steering of the single-side crawler belt and the large-radius steering of the same-direction differential operation of the crawler belts at the two sides can be realized, and in the steering process, the straight component can drive equipment to run at full speed. Meanwhile, the two groups of differential assemblies are matched, so that differential operation of the crawler belts at two sides in the steering process can be realized, and the problem of slipping during pit passing is avoided. In combination, the utility model can realize independent operation of the tracks on two sides, realize zero-radius in-situ turning and fixed-radius turning, simultaneously ensure simple and compact overall structure, ensure reliable transmission and improve transmission efficiency.

In order to ensure that the straight component, the steering component 3 and the differential component can be stably installed in the outer cover 1, ensure the cooperation operation among the components and ensure that the double-flow transmission mechanism is stably installed in crawler-type advancing equipment, and simultaneously, the disassembly, assembly and maintenance of the straight component, the steering component 3 and the differential component assembled in the outer cover 1 are convenient, the following technical scheme is provided.

The outer cover 1 comprises an upper cover 11, a lower cover 12 and a mounting bracket 13, wherein the upper cover 11 is fixedly mounted on the lower cover 12 through bolts, the upper cover 11 and the lower cover 12 are combined to form a mounting cavity, the straight component, the steering component 3 and the differential component are all mounted in the mounting cavity in a matched manner, and the lower cover 12 is fixedly mounted on the mounting bracket 13.

The mounting bracket 13 is fixedly arranged in the crawler type travelling equipment through bolts, and the double-flow transmission mechanism is used for providing power such as advancing, retreating, steering and the like for the crawler type travelling equipment so as to ensure that the crawler type travelling equipment can normally operate.

The crawler type travelling equipment can be a crawler type robot as well, and the running state of the double-flow transmission mechanism is controlled to control the crawler type robot to run according to a set route. Similarly, the crawler type travelling equipment can be model toys such as tanks, bulldozers and excavators, and when the true machines such as the tanks and the bulldozers are matched with the double-flow transmission mechanism, the double-flow transmission mechanism is required to be structurally reinforced, the power input source is changed, and the scheme is not changed.

In order to ensure that the straight motor 22 can be stably mounted on the outer housing 1 and ensure that the power of the straight motor 22 can be stably transmitted to the straight input shaft 21, the following technical scheme is provided.

The straight motor 22 is fixedly mounted on the upper housing 11, the straight input shaft 21 is fixedly mounted with a primary a-type reduction gear 24, and the straight input gear 23 is arranged inside the housing 1 and keeps meshed with the primary a-type reduction gear 24.

In order to ensure that the straight-running motor 22 can stably transmit power to the straight-running input shaft 21, the straight-running input gear 23 and the primary A-type reduction gear 24 are designed to be conical gears, and meanwhile, the number of gear teeth of the primary A-type reduction gear 24 is larger than that of the gear teeth of the execution input gear, so that the effect of reducing speed in the power transmission process is achieved, meanwhile, the torque on the execution input shaft is improved, and the running stability of the double-flow transmission mechanism in the straight-running process is ensured.

The first-stage A-type reduction gear 24 is fixedly clamped to the straight input shaft 21 in a clamping key and clamping groove mode, so that the first-stage A-type reduction gear is convenient to disassemble, assemble and maintain.

In order to ensure the forward and backward adjustment of the double-flow transmission mechanism in the test and operation stages and the overall operation stability of the double-flow transmission mechanism, two groups of symmetrically arranged first-stage A-type reduction gears 24 can be assembled on the straight-flow input shaft 21, and simultaneously, two groups of straight-flow motors 22 and matched straight-flow input gears 23 are assembled, wherein the two groups of straight-flow input gears 23 are respectively meshed with the two groups of first-stage A-type reduction gears 24.

When one group of straight running motors 22 is controlled to rotate, the assembled crawler running equipment is driven to integrally move forward through the cooperation of the corresponding straight running input gears 23 and the primary A-type reduction gears 24. When the other group of executing motors are controlled to rotate, the crawler traveling equipment is driven to integrally retreat at the moment due to the symmetrical arrangement of the two groups of first-stage A-type reduction gears 24.

In order to ensure that the steering motor 31 can be stably mounted on the outer cover 1 and ensure that the power of the steering motor 31 is stably transmitted to the outer cover components of the two differential assemblies, the following technical scheme is provided.

The steering motor 31 is fixedly arranged on the lower housing 12, a primary B-type reduction gear 34 is fixedly connected to a housing assembly of the differential assembly, and second transmission gears in the two groups of transmission gear sets 33 are respectively meshed with the primary B-type reduction gears 34 on the two groups of housing assemblies.

In order to ensure stable installation of the steering motor 31 on the lower housing 12, the housing 1 further comprises a connecting bracket 14 fixedly connected with the lower housing and the mounting bracket 13, the steering motor 31 is transversely installed on the connecting bracket 14, and the arrangement of the connecting bracket 14 can improve the installation stability of the steering motor 31.

In order to ensure that the power of the steering motor 31 can be stably transmitted to the driving gear set 33, the steering input gear 32 and the first driving gear 332 are bevel gears, the power can be ensured to be transmitted in the vertical direction, two groups of second driving gears and the primary B-type reduction gears 34 meshed with each other are straight gears, and the number of gear teeth of the primary B-type reduction gears 34 is larger than that of the second driving gears.

When the steering motor 31 rotates to drive the steering input gear 32 to rotate, the two groups of first transmission gears 332 are symmetrically arranged, the rotation directions of the two groups of transmission gear sets 33 are kept opposite, when the transmission gear sets 33 drive the shell components of the two groups of differential components to operate, the two groups of shell components are reversely rotated, the steering function is realized, and the in-situ zero-radius rotation, the static fixed-radius rotation of the single-side crawler belt and the large-radius steering of the same-direction differential of the two side crawler belts can be realized through the cooperation of the differential components and the straight-line components.

In order to ensure that the differential assembly is stably installed in the outer cover 1 and simultaneously ensure that the differential assembly can realize the differential operation of the crawler belts on two sides according to road conditions and turning requirements, the following technical scheme is provided.

The shell component comprises a connecting disc 411 and a mounting disc 412 which are rotatably arranged in the outer shell 1, wherein a plurality of groups of locking bars 413 are uniformly fixedly connected to the connecting disc 411, the locking bars 413 are fixedly locked with the mounting disc 412, and the primary B-type reduction gear 34 is fixedly arranged on the connecting disc 411.

The gear assembly comprises a first-stage sun gear 421, a first-stage planet gear 422, a second-stage sun gear 423 and a second-stage planet gear 424, wherein the first-stage sun gear 421 is fixedly arranged on the straight-line input shaft 21, the second-stage sun gear 423 is rotatably arranged at the axle center of the mounting plate 412 and is fixedly connected with the output gear 43, the first-stage planet gear 422 and the second-stage planet gear 424 comprise a plurality of groups which are uniformly arranged, the first-stage planet gear 422 and the second-stage planet gear 424 are rotatably arranged on the connecting plate 411 and the mounting plate 412 and are arranged on the peripheries of the first-stage sun gear 421 and the second-stage sun gear 423, the first-stage sun gear 421 is meshed with the first-stage planet gear 422, the second-stage sun gear 423 is meshed with the second-stage planet gear 424, and the adjacently arranged first-stage planet gears 422 and the second-stage planet gears 424 are meshed.

In order to ensure that the primary planet gears 422 and the secondary planet gears 424 are stably installed on the connecting disc 411 and the mounting disc 412 and are convenient to disassemble, assemble and maintain, the mounting sleeves of the plug-in combination are fixed on the connecting disc 411 and the mounting disc 412, and the primary planet gears 422 and the secondary planet gears 424 are respectively rotatably installed on the mounting shaft sleeve.

The primary sun gear 421 is fixedly combined with the straight input shaft 21 by means of a snap-in and snap-in manner, and the secondary sun gear 423 is fixedly combined with the output gear 43 by means of a snap-in and snap-in manner. The device also has the advantage of convenient assembly, disassembly and maintenance.

When the straight-going motor 22 works independently and drives the straight-going input shaft 21 and the first-stage sun gear 421 fixed on the straight-going input shaft to rotate, power is transmitted to the first-stage planetary gear 422, the power is transmitted to the second-stage planetary gear 424 through the meshing relationship of the first-stage planetary gear 422 and the second-stage planetary gear 424, the output gear 43 of the first-stage fixed combination of the second-stage sun gear 423 is driven to rotate, and the power is transmitted to the tracks on the two sides through the output gear 43, so that the straight-going function is realized.

When the steering motor 31 works alone and drives the housing components formed by the connecting disc 411 and the mounting disc 412 to integrally rotate, the first-stage planetary gear 422 and the second-stage planetary gear 424 assembled on the steering motor are driven to integrally rotate around the central axis synchronously, and the rotation directions transmitted to the two groups of housing components are opposite, so that the straight-going input shaft 21 and the first-stage sun gear 421 fixed on the straight-going input shaft are in a locking state, the first-stage planetary gear 422 and the second-stage planetary gear 424 are also in a locking state, the second-stage sun gear 423 and the output gear 43 are driven to rotate, and the two groups of output gears 43 keep reversely rotating, so that the in-situ zero-radius turning can be realized.

When the straight running motor 22 and the steering motor 31 are in the working state, the shell component and the gear component of the differential component are acted together, and when the rotating speeds of the straight running motor 22 and the steering motor 31 are regulated, the constant-radius steering and the large-radius steering of the crawler-type running equipment can be realized.

In order to ensure the stability of the primary sun gear 421, the primary planet gear 422, the secondary sun gear 423 and the secondary planet gear 424 in the assembly and operation process, the following technical scheme is provided.

The differential assembly is also matched with a protection assembly, the protection assembly comprises a rotating seat 441 and protection discs 442, the rotating seat 441 is rotatably arranged in the outer cover 1 and is arranged between the primary sun wheel 421 and the secondary sun wheel 423, the rotating seat 441 is fixedly connected with two groups of protection discs 442, the two groups of protection discs 442 are uniformly provided with mounting notches, and the primary planet wheels 422 and the secondary planet wheels 424 are mounted and arranged at the corresponding mounting notches.

The setting of rotating seat 441 can guarantee the moving stability of one-level sun gear 421, second grade sun gear 423, and the setting of protective disk 442 can guarantee the stability of one-level planet wheel 422, second grade planet wheel 424 motion.

In order to ensure that the power output by the output gear 43 can be stably transmitted to the driving wheels 5 matched with the tracks on the two sides, and simultaneously ensure that the driving wheels 5 have enough torque to operate, the following technical scheme is provided.

Two sets of secondary reduction gears 51 are rotatably mounted on the mounting bracket 13, and the two sets of secondary reduction gears 51 are held in mesh with the two sets of output gears 43, respectively.

The secondary reduction gear 51 is fixedly connected with the axle center of the driving wheel 5 on the track on the two sides, and the number of gear teeth of the secondary reduction gear 51 is larger than that of the output gear 43, so that the rotation speed and the torque on the secondary reduction gear 51 and the driving wheel 5 transmitted by the output gear 43 are reduced and increased.

Or the two side output gears 43 are provided with gearboxes, and the two-stage reduction gear 51 is replaced by the gearboxes to realize the effects of speed reduction and torque increase.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (7)

1. Double-flow transmission mechanism, its characterized in that: the steering device comprises an outer cover (1), and a straight component, a steering component (3) and a differential component which are assembled in the outer cover (1) and are matched and combined, wherein the differential component comprises two groups which are symmetrically arranged, the differential component comprises a shell component and a gear component, and output gears (43) are assembled on the two groups of gear components; the straight-line assembly comprises a straight-line input shaft (21), a straight-line motor (22) and a straight-line input gear (23), wherein the straight-line input shaft (21) is rotatably arranged in the outer cover (1), two ends of the straight-line input shaft (21) are respectively linked with gear group members in the two groups of differential assemblies, and the straight-line input gear (23) is fixedly arranged on a rotating shaft of the straight-line motor (22) and is linked with the straight-line input shaft (21); the steering assembly (3) comprises a steering motor (31), a steering input gear (32) and a transmission gear set (33), wherein the transmission gear set (33) comprises two groups which are symmetrically arranged in the outer cover (1), each group of transmission gear sets (33) comprises a connecting shaft (331) and a first transmission gear (332) and a second transmission gear which are fixed on the connecting shaft (331), the connecting shaft (331) is rotatably arranged in the outer cover (1), the steering input gear (32) is fixedly arranged on a rotating shaft of the steering motor (31) and meshed with the two groups of first transmission gears (332), and the two groups of second transmission gears are respectively linked with the outer cover components of the two groups of differential assemblies.

2. The dual flow transmission mechanism as set forth in claim 1 wherein: the outer cover (1) comprises an upper cover shell (11), a lower cover shell (12) and a mounting bracket (13), wherein the upper cover shell (11) is fixedly mounted on the lower cover shell (12) through bolts, the upper cover shell (11) and the lower cover shell (12) are combined to form a mounting cavity, the straight component, the steering component (3) and the differential component are all mounted in the mounting cavity in a matched mode, and the lower cover shell (12) is fixedly mounted on the mounting bracket (13).

3. The dual flow transmission mechanism as set forth in claim 2 wherein: the straight motor (22) is fixedly mounted on the upper housing (11), the straight input shaft (21) is fixedly provided with a first-stage A-type reduction gear (24), and the straight input gear (23) is arranged on the inner side of the housing (1) and keeps meshed with the first-stage A-type reduction gear (24).

4. A dual flow transmission mechanism as claimed in claim 3, wherein: the steering motor (31) is fixedly arranged on the lower housing (12), a first-stage B-type reduction gear (34) is fixedly connected to the housing assembly of the differential assembly, and second transmission gears in the two groups of transmission gear sets (33) are respectively meshed with the first-stage B-type reduction gears (34) on the two groups of housing assemblies.

5. The dual flow transmission mechanism as set forth in claim 4, wherein: the shell component comprises a connecting disc (411) and a mounting disc (412) which are rotatably mounted in the outer shell (1), a plurality of groups of locking bars (413) are uniformly and fixedly connected to the connecting disc (411), the locking bars (413) are fixedly locked with the mounting disc (412), and the primary B-type reduction gear (34) is fixedly mounted on the connecting disc (411); the gear assembly comprises a first-stage sun gear (421), a first-stage planet gear (422), a second-stage sun gear (423) and a second-stage planet gear (424), wherein the first-stage sun gear (421) is fixedly mounted on the straight-going input shaft (21), the second-stage sun gear (423) is rotatably mounted at the axle center of the mounting plate (412) and fixedly connected with the output gear (43), the first-stage planet gear (422) and the second-stage planet gear (424) comprise a plurality of groups which are uniformly arranged, the first-stage planet gear (422) and the second-stage planet gear (424) are rotatably mounted on the connecting plate (411), the mounting plate (412) and are arranged on the periphery of the first-stage sun gear (421) and the second-stage sun gear (423), the first-stage sun gear (421) is meshed with the first-stage planet gear (422), the second-stage sun gear (423) is meshed with the second-stage planet gear (424), and the adjacently arranged first-stage planet gears (422) and the second-stage planet gears (424) are meshed.

6. The dual flow transmission mechanism as set forth in claim 5, wherein: the differential assembly is also matched with a protection assembly, the protection assembly comprises a rotating seat (441) and protection discs (442), the rotating seat (441) is rotatably arranged in the outer cover (1) and arranged between the primary sun wheel (421) and the secondary sun wheel (423), two groups of protection discs (442) are fixedly connected on the rotating seat (441), mounting notches are uniformly formed in the two groups of protection discs (442), and the primary planet wheels (422) and the secondary planet wheels (424) are mounted and arranged at the corresponding mounting notches.

7. The dual flow transmission mechanism as set forth in claim 5, wherein: two groups of secondary reduction gears (51) are rotatably mounted on the mounting bracket (13), and the two groups of secondary reduction gears (51) are respectively kept meshed with the two groups of output gears (43).